Spatial rotation mechanism gravity unloading device and method based on Kalman filtering

Abstract

The invention provides a space rotating mechanism gravity unloading device and method based on Kalman filtering, and belongs to the field of gravity unloading or servo control. A position encoder located on a rotary table yaw shaft measures and obtains a yaw attitude angle, and Kalman filtering is carried out on the yaw attitude angle through an industrial personal computer to eliminate delay and noise interference; taking a suspension wire tension value obtained by calculating the gravity of the rotary table load planned to be unloaded as a control instruction of a Z-axis motor, and enabling the suspension wire tension to be always the same as the control instruction of the Z-axis motor through a tension sensor on the suspension wire; and when the gravity of the load of the rotary table is unloaded, the tension of the suspension wire is locked and controlled by adopting sliding mode control. According to the space rotating mechanism gravity unloading device and method based on Kalman filtering, the problem that the gravity unloading environment of a two-dimensional rotating mechanism is difficult to build is solved, meanwhile, the device and method can bear a large-weight rotary table load, and the device and method have the advantages of being rapid in tracking, high in unloading precision and the like.

Description

technical field [0001] The invention relates to a gravity unloading device and method for a space rotation mechanism based on Kalman filtering, belonging to the field of gravity unloading or servo control. Background technique [0002] The patent "An Active Gravity Unloading Device" (invention patent, Hou Peng, 20180504) proposes an active gravity unloading device that can realize ground gravity compensation of large-scale deployable mechanisms and simulate the state of weightlessness in space. The ground gravity unloading of the multi-joint space deployable mechanism has the advantages of small size, light weight and large movement stroke. However, due to the complex control system and cumbersome mechanical structure, the operability and maintenance of the system are reduced, and the cost of the system is increased. [0003] The paper "Design of Active Gravity Compensation System for Zero Stiffness Hanging Wire Suspension" (The 9th China Conference on Multi-Agent Systems an...

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Problems solved by technology

[0002] The patent "An Active Gravity Unloading Device" (invention patent, Hou Peng, 20180504) proposes an active gravity unloading device that can realize ground gravity compensation of a large-scale space expandable mechanism and simulate the state of weightlessness in space. Although it can meet the requirements of large-scale The multi-joint space expandable mechanism is unloaded by gravity on the ground, which has the advantages of small size, light weight, and large movement stroke. However, due to the complicated control system and cumbersome mechanical structure, the operability and maintainability of the system are reduced, and the cost of the system is increased.

[0003] The paper "Design of Active Gravity Compensation System for Zero-stiffness Hanging Wire Suspension" (The Ninth China Multi-Agent System and Control Conference, Jia Jiao, 20140726), designed an active gravity compensation system for zero-stiffness hanging wire suspension, which is suitable for the test spacecraft Although the gravity in the horizontal direction, the zero stiffness in the vertical direction, the disturbance of the wire rope and the influence of the suspension device on the experimental spacecraft are fully compensated, the delay in the angle information of the two-dimensional inclination sensor output deviating from the equilibrium position is not considered. and noise interference, did not achieve high tracking accuracy and compensation accuracy

[0004] The paper "Analysis of Gravity Unloading Accuracy of Air Floatation Test Bench" (Journal of Mechanical Engineering Vol. Rotating in a microgravity environment, although the gravity of the two joints of the drive mechanism can be unloaded separately, but the method adopted is the air flotation method, which limits the weight of the load and cannot meet the needs of large loads.

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